具有时序逻辑约束的有限确定系统的最优滚动时域控制
Optimal Receding Horizon Control for Finite Deterministic Systems with Temporal Logic Constraints
摘要：
在本文中，我们发展了一个可证明正确的最优控制策略的有限确定性转移系统。通过假设已知的发生概率和动态的处罚可以在系统的状态本地感测，我们推导出一个滚动时域策略，最大限度地减少预期的平均累积惩罚之间发生的两个连续的满意度所需的属性。同时，我们保证满足表示为线性时序逻辑公式的正确性规范。我们说明了一个持久的监视机器人应用程序的方法。
英文摘要：
In this paper, we develop a provably correct optimal control strategy for a finite deterministic transition system. By assuming that penalties with known probabilities of occurrence and dynamics can be sensed locally at the states of the system, we derive a receding horizon strategy that minimizes the expected average cumulative penalty incurred between two consecutive satisfactions of a desired property. At the same time, we guarantee the satisfaction of correctness specifications expressed as Linear Temporal Logic formulas. We illustrate the approach with a persistent surveillance robotics application.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
